Map building and map-based relocalization techniques are important for unmanned vehicles operating in urban environments. The existing approaches require expensive high-density laser range finders and suffer from relocalization problems in long-term applications. This study proposes a novel map format called the ClusterMap. on the basis of which an approach to achieving relocalization... https://www.chiggate.com/saras-far-far-pani-puri-with-masala-225g-for-cheap/